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<p class="heading"><span class="smallhead">Professional</span><br />&nbsp;&nbsp;&nbsp;Microsoft Robotics Developer Studio<br />
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<h1>Chapter 9 - Adventures in Simulation</h1>

<h2>Summary</h2>
<p>
This chapter brings together a range of different simulation
examples to demonstrate how the Simulator can be used with
high-level orchestration services.
</p>

<h2>Contents</h2>
<p>This chapter contains the following applications:</p>
<ul>
<li><a href="Sumo.htm">Simulated Sumo Competition</a></li>
<li><a href="Hexapod.htm">Six-Legged Walker (Hexapod)</a></li>
<li><a href="Soccer.htm">Soccer Simulator using CoroBots</a></li>
<li><a href="DiffDrive.htm">Simulated Differential Drive</a> (required for Maze Simulator)</li>
<li><a href="MazeSimulator.htm">Maze Simulator</a></li>
<li><a href="Explorer.htm">Explorer Simulator</a></li>
</ul>
<p>
There is also a page describing how to use the Maze Simulator
to set up a <a href="LineFollowing.htm">Line Following</a>
environment, and a sample <a href="MazeGenerator.htm">Maze Generator</a>
that can be used to create random mazes of any size.
</p>
<p>
The Sumo and Soccer simulations require you to first download
and install the corresponding packages from the MRDS web site.
</p>
<p>
The Hexapod demonstrates an interesting application of joints.
Hexapod robots have been quite popular in the past, with the
famous Genghis at the MIT. A new hexapod, called Herey, will be
released by Microbot in 2008 with MRDS services.
</p>
<p>
There is a Simulated Differential Drive entity included with
MRDS V1.5. However, a different version is used
by the Maze Simulator that allows the robot to cheat and find out
exactly where it is.
</p>
<p>
The Maze Simulator does not have its own UI. Instead is exposes
generic contracts that can be used just like a real robot.
You can test it using
the <a href="../Chapter4/Dashboard.htm">Dashboard</a> or
<a href="../Chapter4/TeleOperation.htm">TeleOperation</a>.
</p>
<p>
The Explorer Simulation is based on the original Explorer sample
included with MSRS 1.0 but uses the Maze Simulator to provide an
environment for a simulated Pioneer robot to explore. It produces
a map as it goes.
</p>
<h2>Legal Stuff</h2>
<p>
Ben Axelrod wrote the very first Maze Simulator. Since then it has been
substantially modified by Trevor Taylor.<br />
The Explorer Simulator is based on code by Microsoft, but has significant
enhancements.
</p>

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